Large Model Empowered Embodied AI: A Survey on Decision-Making and Embodied Learning

Embodied AI aims to develop intelligent systems with physical forms capable of perceiving, decision-making, acting, and learning in real-world environments, providing a promising way to Artificial General Intelligence (AGI). Despite decades of explorations, it remains challenging for embodied agents to achieve human-level intelligence for general-purpose tasks in open dynamic environments. Recent breakthroughs in large models have revolutionized embodied AI by enhancing perception, interaction, planning and learning. In this article, we provide a comprehensive survey on large model empowered embodied AI, focusing on autonomous decision-making and embodied learning. We investigate both hierarchical and end-to-end decision-making paradigms, detailing how large models enhance high-level planning, low-level execution, and feedback for hierarchical decision-making, and how large models enhance Vision-Language-Action (VLA) models for end-to-end decision making. For embodied learning, we introduce mainstream learning methodologies, elaborating on how large models enhance imitation learning and reinforcement learning in-depth. For the first time, we integrate world models into the survey of embodied AI, presenting their design methods and critical roles in enhancing decision-making and learning. Though solid advances have been achieved, challenges still exist, which are discussed at the end of this survey, potentially as the further research directions.

Bridging the Fairness Gap: Enhancing Pre-trained Models with LLM-Generated Sentences

Pre-trained language models (PLMs) are trained on data that inherently contains gender biases, leading to undesirable impacts. Traditional debiasing methods often rely on external corpora, which may lack quality, diversity, or demographic balance, affecting the effectiveness of debiasing. With the rise of large language models and their extensive knowledge, we propose enhancing fairness (Fair-Gender) in PLMs by absorbing coherent, attribute-balanced, and semantically rich sentences. However, these sentences cannot be directly used for debiasing due to alignment issues and the risk of negative transfer. We address this by applying causal analysis to estimate causal effects, filtering out unaligned sentences, and identifying aligned ones for incorporation into PLMs, thereby ensuring positive transfer. Experiments show that our approach significantly reduces gender biases in PLMs while preserving their language expressiveness.

Predicting Human Mobility via Self-supervised Disentanglement Learning

Deep neural networks have recently achieved considerable improvements in learning human behavioral patterns and individual preferences from massive spatial-temporal trajectories data. However, most of the existing research concentrates on fusing different semantics underlying sequential trajectories for mobility pattern learning which, in turn, yields a narrow perspective on comprehending human intrinsic motions. In addition, the inherent sparsity and under-explored heterogeneous collaborative items pertaining to human check-ins hinder the potential exploitation of human diverse periodic regularities as well as common interests. Motivated by recent advances in disentanglement learning, in this study we propose a novel disentangled solution called SSDL for tackling the next POI prediction problem. SSDL primarily seeks to disentangle the potential time-invariant and time-varying factors into different latent spaces from massive trajectories data, providing an interpretable view to understand the intricate semantics underlying human diverse mobility representations. To address the data sparsity issue, we present two realistic trajectory augmentation approaches to enhance the understanding of both the human intrinsic periodicity and constantly-changing intents. In addition, we devise a POI-centric graph structure to explore heterogeneous collaborative signals underlying historical check-ins. Extensive experiments conducted on four real-world datasets demonstrate that our proposed SSDL significantly outperforms the state-of-the-art approaches -- for example, it yields up to 8.57% improvements on ACC@1.